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fix(autoware_utils): address self-intersecting polygons in random_concave_generator and handle empty inners() during triangulation #8995

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fix(autoware_utils): address self-intersecting polygons in random_concave_generator and handle empty inners() during triangulation #8995

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3e35f7c
fixed self-intersecting issue and empty inners
mraditya01 Oct 1, 2024
5960d28
fixed empty inners and add some unit test cases
mraditya01 Oct 1, 2024
4449916
style(pre-commit): autofix
pre-commit-ci[bot] Oct 1, 2024
b93d4bd
minor fix on test description
mraditya01 Oct 1, 2024
e141914
move area calculation to test
mraditya01 Oct 3, 2024
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5 changes: 5 additions & 0 deletions common/autoware_universe_utils/include/autoware/universe_utils/geometry/ear_clipping.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -83,6 +83,11 @@ std::size_t eliminate_holes(
const std::vector<alt::PointList2d> & inners, std::size_t outer_index, std::size_t & vertices,
std::vector<LinkedPoint> & points);

/**
* @brief helper function to calcuate total area of triangles
*/
double calculate_total_triangle(const std::vector<autoware::universe_utils::Polygon2d> & triangles);

/**
* @brief triangulates a polygon into convex triangles
* @details simplifies a concave polygon, with or without holes, into a set of triangles
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3 changes: 3 additions & 0 deletions common/autoware_universe_utils/src/geometry/alt_geometry.cpp
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@@ -1,4 +1,4 @@
// Copyright 2023-2024 TIER IV, Inc.

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//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand Down Expand Up @@ -68,6 +68,9 @@
std::vector<PointList2d> inners;
for (const auto & inner : polygon.inners()) {
PointList2d _inner;
if (inner.empty()) {
continue;
}
for (const auto & point : inner) {
_inner.push_back(Point2d(point));
}
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29 changes: 25 additions & 4 deletions common/autoware_universe_utils/src/geometry/ear_clipping.cpp
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// Copyright 2024 TIER IV, Inc.

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//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand Down Expand Up @@ -420,6 +420,9 @@
std::vector<std::size_t> queue;

for (const auto & ring : inners) {
if (ring.empty()) {
continue;
}
auto inner_index = linked_list(ring, false, vertices, points);

if (points[inner_index].next_index.value() == inner_index) {
Expand Down Expand Up @@ -561,6 +564,28 @@
}
}

double calculate_triangle_area(const autoware::universe_utils::Polygon2d & triangle)
{
const auto & points = triangle.outer();
double x1 = points[0].x();
double y1 = points[0].y();
double x2 = points[1].x();
double y2 = points[1].y();
double x3 = points[2].x();
double y3 = points[2].y();

return std::abs((x1 * (y2 - y3) + x2 * (y3 - y1) + x3 * (y1 - y2)) / 2.0);
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Can you add a source for this formula ?
Or if this function is only needed for the test then just use boost::geometry::area in the tests.

}

double calculate_total_triangle(const std::vector<autoware::universe_utils::Polygon2d> & triangles)
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the name of this function is not clear.
I also think it only needs to be defined in the tests.

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Ok, I will move the function to test and use boost::geometry::area instead

{
double totalArea = 0.0;
for (const auto & triangle : triangles) {
totalArea += calculate_triangle_area(triangle);
}
return totalArea;
}

std::vector<LinkedPoint> perform_triangulation(
const alt::Polygon2d & polygon, std::vector<std::size_t> & indices)
{
Expand Down Expand Up @@ -617,10 +642,6 @@
std::vector<Polygon2d> triangulate(const Polygon2d & poly)
{
const auto alt_poly = alt::Polygon2d::create(poly);
if (!alt_poly.has_value()) {
return {};
}

const auto alt_triangles = triangulate(alt_poly.value());
std::vector<Polygon2d> triangles;
for (const auto & alt_triangle : alt_triangles) {
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15 changes: 4 additions & 11 deletions common/autoware_universe_utils/src/geometry/random_concave_polygon.cpp
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// Copyright 2024 TIER IV, Inc.

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//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand Down Expand Up @@ -140,24 +140,17 @@
/// @brief checks if an edge is valid for a given polygon and set of points
bool is_valid(const Edge & e, const Polygon2d & P, const std::vector<Point2d> & Q)
{
bool valid = false;
size_t i = 0;

while (!valid && i < Q.size()) {
const Point2d & q = Q[i];
for (const Point2d & q : Q) {
Edge e1 = {e.first, q};
Edge e2 = {q, e.second};
bool intersects_e1 = intersecting(e1, P);
bool intersects_e2 = intersecting(e2, P);

if (!intersects_e1 && !intersects_e2) {
valid = true;
if (intersects_e1 || intersects_e2) {
return false;
}

++i;
}

return valid;
return true;
}

/// @brief finds the nearest node from a set of points to an edge
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90 changes: 90 additions & 0 deletions common/autoware_universe_utils/test/src/geometry/test_geometry.cpp
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// Copyright 2020-2024 Tier IV, Inc.

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//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand Down Expand Up @@ -2021,6 +2021,96 @@
}
}

TEST(geometry, PolygonTriangulation)
{
using autoware::universe_utils::calculate_total_triangle;
using autoware::universe_utils::Polygon2d;
using autoware::universe_utils::triangulate;

{ // concave polygon
Polygon2d poly;

poly.outer().emplace_back(0.0, 0.0);
poly.outer().emplace_back(4.0, 0.0);
poly.outer().emplace_back(4.0, 4.0);
poly.outer().emplace_back(2.0, 2.0);
poly.outer().emplace_back(0.0, 4.0);
boost::geometry::correct(poly);

const auto triangles = triangulate(poly);

const auto triangle_area = calculate_total_triangle(triangles);
const auto poly_area = boost::geometry::area(poly);
EXPECT_NEAR(triangle_area, poly_area, epsilon);
}

{ // concave polygon with empty inners
Polygon2d poly;

poly.outer().emplace_back(0.0, 0.0);
poly.outer().emplace_back(4.0, 0.0);
poly.outer().emplace_back(4.0, 4.0);
poly.outer().emplace_back(2.0, 2.0);
poly.outer().emplace_back(0.0, 4.0);
boost::geometry::correct(poly);

poly.inners().emplace_back();

const auto triangles = triangulate(poly);

const auto triangle_area = calculate_total_triangle(triangles);
const auto poly_area = boost::geometry::area(poly);
EXPECT_NEAR(triangle_area, poly_area, epsilon);
}

{ // concave polygon with hole
Polygon2d poly;

poly.outer().emplace_back(0.0, 0.0);
poly.outer().emplace_back(4.0, 0.0);
poly.outer().emplace_back(4.0, 4.0);
poly.outer().emplace_back(2.0, 2.0);
poly.outer().emplace_back(0.0, 4.0);

poly.inners().emplace_back();
poly.inners().back().emplace_back(1.0, 1.0);
poly.inners().back().emplace_back(1.5, 1.0);
poly.inners().back().emplace_back(1.5, 1.5);
poly.inners().back().emplace_back(1.0, 1.5);
boost::geometry::correct(poly);

const auto triangles = triangulate(poly);

const auto triangle_area = calculate_total_triangle(triangles);
const auto poly_area = boost::geometry::area(poly);
EXPECT_NEAR(triangle_area, poly_area, epsilon);
}

{ // concave polygon with one empty inner followed by one hole
Polygon2d poly;

poly.outer().emplace_back(0.0, 0.0);
poly.outer().emplace_back(4.0, 0.0);
poly.outer().emplace_back(4.0, 4.0);
poly.outer().emplace_back(2.0, 2.0);
poly.outer().emplace_back(0.0, 4.0);

poly.inners().emplace_back();
poly.inners().emplace_back();
poly.inners().back().emplace_back(1.0, 1.0);
poly.inners().back().emplace_back(1.5, 1.0);
poly.inners().back().emplace_back(1.5, 1.5);
poly.inners().back().emplace_back(1.0, 1.5);
boost::geometry::correct(poly);

const auto triangles = triangulate(poly);

const auto triangle_area = calculate_total_triangle(triangles);
const auto poly_area = boost::geometry::area(poly);
EXPECT_NEAR(triangle_area, poly_area, epsilon);
}
}

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TEST(geometry, intersectPolygonWithHoles)
{
using autoware::universe_utils::Polygon2d;
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